/*
* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
* its licensors.
*
* For complete copyright and license terms please see the LICENSE at the root of this
* distribution (the "License"). All use of this software is governed by the License,
* or, if provided, by the license below or the license accompanying this file. Do not
* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*
*/
// Original file Copyright Crytek GMBH or its affiliates, used under license.

#ifndef CRYINCLUDE_CRYPHYSICS_BVTREE_H
#define CRYINCLUDE_CRYPHYSICS_BVTREE_H
#pragma once

#if ENABLE_CRY_PHYSICS

////////////////////////// bounding volumes ////////////////////////

struct BV
{
    int type;
    int iNode;
    inline operator primitive*();
};
struct BV_Primitive
    : public BV
{
    primitive p;
};
inline BV::operator primitive*() { return &static_cast<BV_Primitive*>(this)->p; }

struct BBox
    : BV
{
    box abox;
};

struct BVheightfield
    : BV
{
    heightfield hf;
};

struct BVvoxelgrid
    : BV
{
    voxelgrid voxgrid;
};

struct BVray
    : BV
{
    ray aray;
};

class CGeometry;
class CBVTree;

struct surface_desc
{
    Vec3 n;
    int idx;
    int iFeature;
};
struct edge_desc
{
    Vec3 dir;
    Vec3 n[2];
    int idx;
    int iFeature;
};

struct geometry_under_test
{
    CGeometry* pGeometry;
    CBVTree* pBVtree;
    int* pUsedNodesMap;
    int* pUsedNodesIdx;
    int nUsedNodes;
    int nMaxUsedNodes;
    int bStopIntersection;
    int bCurNodeUsed;

    Matrix33 R, R_rel;
    Vec3 offset, offset_rel;
    float scale, rscale, scale_rel, rscale_rel;
    int bTransformUpdated;

    Vec3 v;
    Vec3 w, centerOfMass;
    Vec3 centerOfRotation;
    intersection_params* pParams;

    Vec3 axisContactNormal;
    Vec3 sweepdir, sweepdir_loc;
    float sweepstep, sweepstep_loc;
    Vec3 ptOutsidePivot;

    int typeprim;
    primitive* primbuf; // used to get node contents
    primitive* primbuf1;// used to get unprojection candidates
    int szprimbuf, szprimbuf1;
    int* iFeature_buf; // feature that led to this primitive
    char* idbuf; // ids of unprojection candidates
    int szprim;

    surface_desc* surfaces; // the last potentially surfaces
    edge_desc* edges;   // the last potentially contacting edges
    int nSurfaces, nEdges;
    float minAreaEdge;

    geom_contact* contacts;
    int* pnContacts;
    int nMaxContacts;

    int iCaller;
};

enum BVtreetypes
{
    BVT_OBB = 0, BVT_AABB = 1, BVT_SINGLEBOX = 2, BVT_RAY = 3, BVT_HEIGHTFIELD = 4, BVT_VOXEL = 5
};

class CBVTree
{
public:
    virtual ~CBVTree() {}
    virtual int GetType() = 0;
    virtual void GetBBox(box* pbox) {}
    virtual int MaxPrimsInNode() { return 1; }
    virtual float Build(CGeometry* pGeom) = 0;
    virtual void SetGeomConvex() {}

    virtual int PrepareForIntersectionTest(geometry_under_test* pGTest, CGeometry* pCollider, geometry_under_test* pGTestColl)
    {
        pGTest->pUsedNodesMap = 0;
        pGTest->pUsedNodesIdx = 0;
        pGTest->nMaxUsedNodes = 0;
        pGTest->nUsedNodes = -1;
        return 1;
    }

    virtual void CleanupAfterIntersectionTest(geometry_under_test* pGTest) {}
    virtual void GetNodeBV(BV*& pBV, int iNode = 0, int iCaller = 0) = 0;
    virtual void GetNodeBV(BV*& pBV, const Vec3& sweepdir, float sweepstep, int iNode = 0, int iCaller = 0) = 0;
    virtual void GetNodeBV(const Matrix33& Rw, const Vec3& offsw, float scalew, BV*& pBV, int iNode = 0, int iCaller = 0) = 0;
    virtual void GetNodeBV(const Matrix33& Rw, const Vec3& offsw, float scalew, BV*& pBV, const Vec3& sweepdir, float sweepstep, int iNode = 0, int iCaller = 0) = 0;
    virtual float SplitPriority(const BV* pBV) { return 0.0f; }
    virtual void GetNodeChildrenBVs(const Matrix33& Rw, const Vec3& offsw, float scalew, const BV* pBV_parent, BV*& pBV_child1, BV*& pBV_child2, int iCaller = 0) {}
    virtual void GetNodeChildrenBVs(const BV* pBV_parent, BV*& pBV_child1, BV*& pBV_child2, int iCaller = 0) {}
    virtual void GetNodeChildrenBVs(const BV* pBV_parent, const Vec3& sweepdir, float sweepstep, BV*& pBV_child1, BV*& pBV_child2, int iCaller = 0) {}
    virtual void ReleaseLastBVs(int iCaller = 0) {}
    virtual void ReleaseLastSweptBVs(int iCaller = 0) {}
    virtual void ResetCollisionArea() {}
    virtual float GetMaxSkipDim() { return 0; }

    virtual void GetMemoryStatistics(ICrySizer* pSizer) {}
    virtual void Save(CMemStream& stm) {}
    virtual void Load(CMemStream& stm, CGeometry* pGeom) {}

    virtual int SanityCheck() { return 1; }

    virtual int GetNodeContents(int iNode, BV* pBVCollider, int bColliderUsed, int bColliderLocal,
        geometry_under_test* pGTest, geometry_under_test* pGTestOp) = 0;

    virtual int GetNodeContentsIdx(int iNode, int& iStartPrim) { iStartPrim = 0; return 1; }
    virtual void MarkUsedTriangle(int itri, geometry_under_test* pGTest) {}
};

#endif // ENABLE_CRY_PHYSICS

#endif // CRYINCLUDE_CRYPHYSICS_BVTREE_H